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vehicle_local_position: added bitfield for terrain estimate sensor info

- indicate how the distance to the bottom is estimated as this is important
to know in the context

Signed-off-by: RomanBapst <bapstroman@gmail.com>
release/1.12
RomanBapst 5 years ago committed by Lorenz Meier
parent
commit
b1e442b830
  1. 4
      msg/vehicle_local_position.msg

4
msg/vehicle_local_position.msg

@ -52,6 +52,10 @@ float32 ref_alt # Reference altitude AMSL, (metres) @@ -52,6 +52,10 @@ float32 ref_alt # Reference altitude AMSL, (metres)
# Distance to surface
float32 dist_bottom # Distance from from bottom surface to ground, (metres)
bool dist_bottom_valid # true if distance to bottom surface is valid
uint8 dist_bottom_sensor_bitfield # bitfield indicating what type of sensor is used to estimate dist_bottom
uint8 DIST_BOTTOM_SENSOR_NONE = 0
uint8 DIST_BOTTOM_SENSOR_RANGE = 1 # (1 << 0) a range sensor is used to estimate dist_bottom field
uint8 DIST_BOTTOM_SENSOR_FLOW = 2 # (1 << 1) a flow sensor is used to estimate dist_bottom field (mostly fixed-wing use case)
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)

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